Method of virtualizing characteristics of internal combustion engine vehicle in electric vehicle

ABSTRACT

A method of virtualizing characteristics of an internal combustion engine vehicle in an electric vehicle, the method includes: determining, by a controller, a current input torque applied to a powertrain from a motor that makes a vehicle move, determining, by the controller, tooth surface pressures of gears in the powertrain between the motor and driving wheels from the determined current input torque, generating, by the controller, a virtual effect signal for generating a virtual effect that simulates powertrain characteristics of an internal combustion engine vehicle based on the determined tooth surface pressures of the gears in the powertrain, and generating, by the controller, the virtual effect that simulates the powertrain characteristics of the internal combustion engine vehicle by controlling operation of a virtual effect generation device that generates the virtual effect according to the generated virtual effect signal.

CROSS REFERENCE TO RELATED APPLICATION

The present application claims priority to Korean Patent Application No. 10-2022-0067309, filed Jun. 2, 2022 in the Korean Intellectual Property Office, the entire contents of which is incorporated herein for all purposes by this reference.

TECHNICAL FIELD

The present disclosure relates to a method of virtualizing characteristics of an internal combustion engine (ICE) vehicle in an electric vehicle (EV) and, more particularly, to a method of virtualizing an operation feeling of a powertrain including an internal combustion engine, a transmission, and a clutch, as well as driving feeling of an ICE vehicle, in an EV.

BACKGROUND

As is known, an electric vehicle (EV) is a vehicle that runs on a motor as a driving device. A battery electric vehicle (BEV) is a pure electric vehicle that runs using only a motor.

A powertrain of a battery electric vehicle includes a battery that supplies power to drive a motor, and an inverter connected to the battery, a motor that is a driving device for making a vehicle move and is connected to the battery for charging and discharging via the inverter, and a reducer that reduces rotational force of the motor and transmits the rotational force to driving wheels.

Unlike a conventional internal combustion engine (ICE) vehicle, a typical electric vehicle does not have a multi-speed transmission, and instead a reducer with a fixed gear ratio is disposed between a motor and driving wheels.

This is because, unlike an internal combustion engine, which has a wide distribution range of energy efficiency according to the operating point and can provide high torque only in the high-speed region, in the case of a motor, the difference in efficiency according to the operating point is relatively small, and it is possible to realize low speed and high torque only with the characteristics of a single motor unit.

In addition, vehicles equipped with a conventional internal combustion engine powertrain require a starting mechanism such as a torque converter or clutch due to the characteristics of an internal combustion engine that low-speed operation is impossible, while in a powertrain of an electric vehicle, the starting mechanism may be removed as the motor has the characteristics of being easy to run at low speeds.

Furthermore, the powertrain of an electric vehicle generates power by running a motor with electric energy from a battery, rather than generating power by burning fuel as in a conventional internal combustion engine vehicle.

Accordingly, compared to the torque of an internal combustion engine generated by aerodynamic and thermodynamic reactions, the torque of an electric vehicle is generally characterized by being more sophisticated, smoother, and more responsive. Due to these mechanical differences, unlike internal combustion engine vehicles, electric vehicles may provide smooth operation without interruption of drivability due to shifting gears, etc.

Moreover, in automobiles equipped with conventional internal combustion engine powertrains, the main source of vibrations is the internal combustion engine (engine). The vibrations generated by the periodic explosive force of the internal combustion engine in the ignition-on state is transmitted to a vehicle body and passengers through the powertrain or mount.

These vibrations are often considered negative factors to be damped. In this aspect, since there is no vibration source in the electric vehicle in which the motor replaces the engine, it is advantageous compared to the internal combustion engine vehicle in terms of improving ride comfort.

However, for drivers looking for a fun driving experience, the absence of vibrations from the engine may make them feel bored. In particular, in electric vehicles, which aim for high performance, there are times when it is necessary to provide not only a smooth feeling but also a rough and trembling sensation. Yet, electric vehicles have limitations in providing these emotional elements to the driver. Thus, there is a need for a method of creating virtual effects that simulate vibrations and sounds produced by the powertrain of an internal combustion engine vehicle in an electric vehicle.

In particular, it is necessary to provide a function for virtualizing the driving characteristics of an internal combustion engine vehicle, so that the driver may experience the desired sensation in his or her vehicle without having to switch to an internal combustion engine vehicle when the driver wants to feel the driving sensibility, fun, excitement, and direct shift feeling provided by the engine, transmission, clutch, etc.

SUMMARY

Accordingly, the present disclosure has been made keeping in mind the above problems occurring in the related art, and the present disclosure is intended to provide a method of virtualizing characteristics of a powertrain of an internal combustion engine vehicle in an electric vehicle, which enables a driver to experience the driving sensibility, fun, excitement, and direct shift feeling provided by an internal combustion engine (engine), transmission, clutch, etc.

Objectives of the present disclosure are not limited to the objective mentioned above, and other objectives not mentioned will be clearly understood by those skilled in the art to which the present disclosure pertains from the description below (hereinafter referred to as “person of ordinary skill”).

In order to achieve the above objective, according to an embodiment of the present disclosure, there is provided a method of virtualizing characteristics of an internal combustion engine vehicle in an electric vehicle, the method including: determining, by a controller, a current input torque applied to a powertrain from a motor that makes a vehicle move; determining, by the controller, tooth surface pressures of gears in the powertrain between the motor and driving wheels from the determined current input torque; generating, by the controller, a virtual effect signal for generating a virtual effect that simulates powertrain characteristics of the internal combustion engine vehicle based on the determined tooth surface pressures of the gears in the powertrain; and generating, by the controller, a virtual effect that simulates the powertrain characteristics of the internal combustion engine vehicle by controlling operation of a virtual effect generation device that generates the virtual effect according to the generated virtual effect signal.

As described above, according to a method of virtualizing characteristics of an internal combustion engine vehicle in an electric vehicle, in an electric vehicle without an internal combustion engine (engine), transmission, clutch, etc., it is possible to virtualize and provide powertrain characteristics of an internal combustion engine vehicle through vibrations and sounds, and to provide a driver with feelings of operation and driving as if the actual internal combustion engine, transmission, and clutch were operating.

In addition, the driver can experience the driving sensibility, fun, excitement, and direct shift feeling provided by the powertrain of an internal combustion engine vehicle in his or her vehicle without having to switch to an internal combustion engine vehicle.

In particular, by generating virtual vibrations and virtual sounds that are linked to tooth surface pressure of a powertrain gear, the realism of the virtual effects can be maximized, and the highly realistic virtual effects can, in turn, greatly improve the vehicle's marketability.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objectives, features, and other advantages of the present disclosure will be more clearly understood from the following detailed description when taken in conjunction with the accompanying drawings, in which:

FIGS. 1 and 2 are views schematically showing a gear element of a powertrain in a vehicle;

FIG. 3 is a block diagram showing the configuration of an apparatus for virtualizing characteristics of an internal combustion engine vehicle according to the present disclosure;

FIG. 4 is a flowchart showing the process for virtualizing characteristics of an internal combustion engine vehicle according to the present disclosure;

FIG. 5 is a diagram schematically showing waveforms and sizes of a virtual vibration signal and a virtual sound signal according to a gear tooth surface pressure in the present disclosure;

FIG. 6 is a diagram showing waveforms and sizes of the virtual vibration signal and the virtual sound signal when the gear tooth surface pressure is zero (0) in the present disclosure;

FIGS. 7 and 8 are diagram showing an example in which the gear tooth surface pressure is calculated in the present disclosure;

FIG. 9 is a diagram showing an example in which a virtual vibration and a virtual sound are changed in real time in the present disclosure;

FIG. 10 is a diagram showing a cylinder pressure state of an internal combustion engine; and

FIG. 11 is a diagram showing an example of changing the size and shape in real time in the waveform of virtual effects after the gear tooth surface pressure is calculated in the present disclosure.

DETAILED DESCRIPTION

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. The specific structural or functional descriptions presented in the embodiments of the present disclosure are only exemplified for the purpose of describing the embodiments according to the concept of the present disclosure, and the embodiments according to the concept of the present disclosure may be implemented in various forms. In addition, it should not be construed that the disclosure is limited by the embodiments described herein, but should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present disclosure.

Meanwhile, in the present disclosure, terms such as first and/or second may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from other components, for example, within the scope not departing from the scope of rights according to the concept of the present disclosure, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

When a component is referred to as being “connected” to another component, it should be understood that the component may be directly connected to the other component, but other components may exist in between. On the other hand, when it is said that a component is “directly connected” to another component, it should be understood that no other component is present in the middle.

Other expressions for describing the relationship between components, that is, expressions such as “between” and “immediately between” or “adjacent to” and “directly adjacent to” should be interpreted similarly.

Like reference numerals refer to like components throughout. The terminology used herein is for the purpose of describing the embodiments, and is not intended to limit the present disclosure. In this specification, the singular also includes the plural unless specifically stated in the phrase. As used herein, “comprises” and/or “comprising” do not exclude the presence or addition of one or more other components, steps, acts and/or elements by a recited component, step, operation and/or element.

The present disclosure seeks to provide a method of virtualizing characteristics of a powertrain of an internal combustion engine vehicle in an electric vehicle, which enables a driver to experience the driving sensibility, fun, excitement, and direct shift feeling provided by an internal combustion engine, transmission, clutch, etc.

In addition, the present disclosure seeks to provide a method of realizing virtual drivability so that a driver may experience the desired driving feel and sensation of an internal combustion engine vehicle in his or her vehicle without having to switch to an internal combustion engine vehicle.

To this end, it is necessary to create virtual effects that are linked to the powertrain characteristics of an internal combustion engine vehicle in an electric vehicle, which is the vehicle to be applied, to provide a more realistic driving feel and sensation to the driver. However, conventionally, there is a limitation in implementing virtual effects close to the powertrain characteristics of an actual internal combustion engine vehicle, only creating virtual effects that are linked only to an accelerator pedal input value (APS value), which is the driver's driving input information, or the powertrain speed or vehicle speed.

Moreover, although it is known to generate and provide virtual sounds in an electric vehicle, there is a problem in that the virtual sounds are different from the sounds generated in the actual internal combustion engine (engine) vehicle, so that the driver may feel a sense of difference.

Accordingly, the present disclosure focuses on enabling the driver to feel more realistic sensation and driving feel of the internal combustion engine-based powertrain by generating virtual vibrations and sounds to virtualize and provide the powertrain characteristics that could be felt in an internal combustion engine vehicle in an electric vehicle, and by generating virtual vibrations and sounds that are linked to the vehicle's powertrain characteristics and actual driving situations.

In the present disclosure, the main technical feature is to create and provide virtual vibration and sound effects that are linked to tooth surface pressures of the powertrain gears so that the driver may experience dynamic sensation without any sense of difference compared to an actual internal combustion engine vehicle.

In the present disclosure, an electric vehicle is a vehicle powered by a motor as a driving device for moving the vehicle, and is an electric vehicle in a broad sense including, for example, a battery electric vehicle (BEV), a hybrid electric vehicle (HEV), and a fuel cell electric vehicle (FCEV), which are pure electric vehicles.

In the case of a hybrid vehicle, the virtual effect creation and implementation process according to the present disclosure may be performed in an EV mode driven only by a motor. As described above, the method of emulating characteristics of an internal combustion engine vehicle according to the present disclosure may be applied to an electric vehicle powered by a motor.

In the following description, the terms internal combustion engine and engine have the same meaning, and the motor means a driving motor for moving the vehicle.

Vibration and sound generated in a vehicle equipped with an existing internal combustion engine (engine) may be mainly classified as follows.

1. Fluid sound by engine intake

2. Radiated vibration and sound due to explosion stroke and pressure change in engine combustion chamber

3. Vibration transmitted from engine vibration to the vehicle body through the powertrain, and radiated sound

4. Vibration and flow resonance acoustics by the engine exhaust system

Among them, the most important for the driver or passengers in the vehicle is the number 3, vibration transmitted from engine vibration to the vehicle body through the powertrain, and radiated sound.

Therefore, the main purpose of creating virtual effects in electric vehicles, that is, creating virtual vibrations and sounds that mimic the vibrations and sounds generated by the powertrain in an internal combustion engine vehicle, is to provide the driver of an electric vehicle with the same sensation as in an internal combustion engine vehicle. Thus, regarding virtual vibration and sound creation in an electric vehicle, the vibration and sound effects corresponding to the number 3 above should be considered most importantly among the vibrations and sounds of an internal combustion engine vehicle.

Additionally, in an electric vehicle, the degree to which vibration is radiated to the vehicle body and cabin through the powertrain is proportional to the tooth surface pressure of the powertrain gear. At this time, powertrain gears refer to gears in which torque is transmitted between the motor and the driving wheels, and this may mean gears in a known powertrain in which rotational force is transmitted between the motor and the driving wheels in an electric vehicle. A typical powertrain gear in an electric vehicle is gears of a reducer.

According to the present disclosure, by generating virtual vibrations and virtual sounds that are linked to the tooth surface pressure of the powertrain gear as virtual effects simulating the powertrain characteristics of an internal combustion engine vehicle in an electric vehicle, the realism of the virtual effects may be maximized, and the highly realistic virtual effects may, in turn, greatly improve the vehicle's marketability.

FIGS. 1 and 2 schematically show gears in a powertrain of a vehicle. In an electric vehicle, there are a plurality of gears that perform torque (and force) transmission through mutual meshing and simultaneous rotation in a powertrain between a motor, which is a driving device, and driving wheels connected to the motor for the purpose of power transmission.

In the powertrain of an internal combustion engine vehicle, as the gear tooth surface pressure increases, the vibration transmission characteristics between various moving parts of the powertrain become closer to a rigid body, and thus the transmission rate of vibration generated in the internal combustion engine increases.

On the contrary, the smaller the tooth surface pressure of the gear in the powertrain, the lower the stress between adjacent moving parts, making it difficult to transmit vibration, which leads to vibration energy attenuation by a surrounding lubrication part, thereby reducing the vibration transmission rate. That is, as the magnitude of the tooth surface pressure (absolute value of pressure) of the powertrain gear increases, the magnitude of the vibration increases and the magnitude of the vibration decreases as the magnitude of the tooth surface pressure of the powertrain gear decreases (refer to FIGS. 9 and 11 to be described later).

In consideration of this, in the present disclosure, as the size of the tooth surface pressure (absolute value of pressure) of the powertrain gear increases, the size of the virtual effect (the amplitude of vibration and the volume of the sound) becomes larger and the size of the virtual effect becomes smaller as the size of the tooth surface pressure of the powertrain gear decreases.

The main technical features of the present disclosure are, in order for the powertrain characteristics as described above to be expressed in an electric vehicle, virtual vibration and sound are set as described below as a virtual effect that simulates the characteristics of an internal combustion engine vehicle, and the vibrations and sounds reflecting the powertrain characteristics are generated and implemented to be provided to a driver.

For reference, in the present disclosure, the tooth surface pressure means the pressure applied by compression between the tooth surfaces of the gears engaged, and due to the characteristics of the gear, for each tooth, there are two surfaces (the surfaces of both sides of each tooth) on which the tooth pressure may act. According to the direction of the torque transmitted in the state in which the two gears are meshed, the pressure is applied to the selected one of the two surfaces of each tooth for each gear.

For example, when forward torque is transmitted through two gears, the tooth surface pressure (forward pressure) by compression acts on one of the two surfaces of each tooth for each gear, and conversely, when reverse torque is transmitted, the tooth surface pressure (reverse pressure) by compression acts on the other one of the two surfaces of each tooth for each gear.

Here, the forward torque applied from the motor, which is a driving device (reference numeral 41 in FIG. 3 to be described later), may be defined as a torque in the direction of accelerating a vehicle, while the reverse torque may be defined as a torque in the direction of decelerating the vehicle.

In addition, although pressure is a scalar value, not a vector value, so it has no directionality, in this specification, the tooth surface pressure acting by the application of the forward torque may be defined as the forward pressure, and the tooth surface pressure acting by the application of the reverse torque may be defined as the reverse pressure for convenience of explanation, and in this case, the pressure value may have directionality.

In the description of the present disclosure, a negative (−) pressure (see FIGS. 9 and 11 ) on the tooth surface means a reverse pressure, and a positive (+) pressure on the tooth surface means a forward pressure. Additionally, the forward pressure is the tooth pressure acting on one of the two surfaces of each tooth of the two gears, and the reverse pressure is the tooth pressure acting on the other of the two surfaces of each tooth of the two gears.

As such, in the tooth surface pressure acting on one tooth in each gear in the meshed state, the division of negative pressure and positive pressure, and the division of forward pressure and reverse pressure, depend on the direction of the torque (see FIG. 2 ).

FIG. 3 is a block diagram showing the configuration of an apparatus for virtualizing characteristics of an internal combustion engine vehicle according to the present disclosure; and FIG. 4 is a flowchart showing the process for virtualizing characteristics of an internal combustion engine vehicle according to the present disclosure.

The method of virtualizing characteristics of an internal combustion engine vehicle in an electric vehicle according to the present disclosure is a method of virtualizing the operation feeling and driving feeling of a powertrain of an internal combustion engine vehicle in an electric vehicle.

In addition, in the present disclosure, virtualizing characteristics of an internal combustion engine vehicle means that, when the powertrain of the applicable vehicle that is an electric vehicle is operated, vibration and sound that are as similar as possible to those generated in the internal combustion engine vehicle are actually generated in the electric vehicle, although vibration and sound that do not occur in reality.

In particular, in the present disclosure, virtualizing the characteristics of the internal combustion engine vehicle means actually creating and providing vibration and sound in the electric vehicle, which simulate the actual vibration and sound generated by the powertrain in the internal combustion engine vehicle according to the powertrain characteristics, the operating condition of the powertrain, and the vehicle driving condition.

In the present disclosure, vibration and sound that simulate the actual vibration and sound are defined as a “virtual vibration” and a “virtual sound”, and in the following description, a “virtual effect” includes one or both of the virtual vibration and the virtual sound.

As shown in FIG. 3 , an apparatus for virtualizing the characteristics of an internal combustion engine vehicle according to the present disclosure includes: a driving information detection unit 12 that is installed in a vehicle and detects vehicle driving information; a first controller 20 that generates and outputs a torque command based on the vehicle driving information detected by the driving information detection unit 12; a second controller 30 that controls the operation of a driving device 41 according to the torque command output from the first controller 20.

In the following description, the control subject is divided into the first controller 20 and the second controller 30. However, the control process for virtualizing the characteristics of the internal combustion engine vehicle and realizing the virtual effect according to the present disclosure may be performed by one integrated control element instead of a plurality of controllers.

A plurality of controllers and one integrated control element may all be collectively referred to as a controller, and the control process of the present disclosure may be performed by the controller. In the following description, the term “controller” may refer to the first controller 20 and the second controller 30 collectively.

The driving information detection unit 12 is a component that determines a driver demand torque in the vehicle and detects vehicle driving information required to perform a virtual effect implementation function, and the vehicle driving information may include driver's driving input information and vehicle state information. In the following description, a “virtual effect implementation function” refers to a function for generating and implementing a virtual effect (virtual vibration and virtual sound simulating the vibration and sound of an internal combustion engine vehicle).

In an embodiment of the present disclosure, the driving information detection unit 12 includes: an accelerator pedal detection unit that detects accelerator pedal input information according to the driver's operation of the accelerator pedal; a brake pedal detection unit that detects brake pedal input information according to the driver's operation of the brake pedal; and a vehicle speed detection unit that detects vehicle speed.

Here, the accelerator pedal detection unit may be a conventional accelerator position sensor (APS) that is installed on the accelerator pedal and outputs an electrical signal according to the driver's operation state of the accelerator pedal. The brake pedal detection unit may be a conventional brake pedal sensor (BPS) that is installed on the brake pedal and outputs an electrical signal according to the driver's operation state of the brake pedal.

The vehicle speed detection unit may include a wheel speed sensor. Since obtaining vehicle speed information from the signal of the wheel speed sensor is a well-known technique in the art, so a detailed description thereof will be omitted.

The driver's driving input information among the vehicle driving information detected by the driving information detection unit 12 includes: an accelerator pedal input value (APS value) detected by the accelerator pedal detection unit as a driving input value according to the driver's operation of the accelerator pedal; and a brake pedal input value (BPS value) detected by the brake pedal detecting unit as a driving input value according to the driver's operation of the brake pedal. The vehicle speed detected by the vehicle speed detecting unit becomes vehicle state information among the vehicle driving information.

The driving information detection unit 12 may further include a speed detection unit that detects rotational speed of a vehicle powertrain, and the rotational speed of the vehicle powertrain (powertrain speed) may be rotational speed of a motor (motor speed), rotational speed of a drive shaft (drive shaft speed), or rotational speed of a driving wheel 43 (driving wheel speed).

The speed detection unit may be a resolver installed in the motor, a wheel speed sensor installed in the driving wheel 43, or a sensor capable of detecting the drive shaft speed. Additionally, the vehicle driving information further includes a powertrain speed, and the powertrain speed becomes vehicle state information.

Meanwhile, among the configurations of the apparatus shown in FIG. 3 , the first controller 20 determines, generates, and outputs a torque command for controlling the operation of the driving device 41 based on real-time vehicle driving information. Here, the driving device 41 is a motor that drives the vehicle.

The first controller 20 includes: a basic torque command generation unit 21 that determines a driver demand torque from the real-time vehicle driving information acquired through the driving information detection unit 12 and generates a basic torque command for generating the determined driver demand torque.

In addition, the first controller 20 further includes: a virtual effect creation control unit 22 that determines tooth surface pressure of a powertrain gear based on real-time input torque information of a powertrain and generates a virtual effect command (virtual effect signal) for generating and implementing a virtual effect using the determined tooth surface pressure of the powertrain gear.

In the present disclosure, the gear tooth surface pressure of the powertrain may be determined using a motor torque command, which is one of the input torques, as will be described later, and since the motor torque command is determined by real-time vehicle driving information, when the motor torque command is used as the input torque, it can be said that the gear tooth surface pressure of the powertrain is ultimately determined from the real-time vehicle driving information.

Moreover, the first controller 20 further includes: a final torque command generation unit 23 that generates and outputs a final torque command using the basic torque command output from the basic torque command generation unit 21 and the virtual effect command output from the virtual effect creation control unit 22.

The final torque command is transmitted to the second controller 30, and the second controller 30 controls the operation of the driving device 41 for driving the vehicle according to the final torque command. Here, the driving device 41 is a motor that drives the vehicle.

As shown in FIG. 3 , the torque and rotational force output by the motor, which is the driving device 41, is decelerated by the reducer 42 and then transmitted to the driving wheel 43, and when the operation of the motor is controlled by the second controller 30 according to the final torque command of the first controller 20, a virtual powertrain characteristics of an internal combustion engine may be realized.

At this time, the final torque command generated and output by the first controller 20 is a motor torque command capable of realizing virtual internal combustion engine powertrain characteristics, and when the operation of the motor, which is the driving device 41 of the vehicle, is controlled according to the final torque command, the output of the motor torque that may induce vehicle vibration and vehicle behavior corresponding to the tooth surface pressure of the powertrain gear during vehicle driving may be made.

In the present disclosure, the first controller 20 may be a vehicle control unit (VCU) that generates a motor torque command based on vehicle driving information in a typical electric vehicle, and the second controller 30 may be a motor control unit (MCU) that controls the operation of the motor according to the motor torque command. The first controller 20 (the vehicle control unit (VUC)) and the second controller 30 (the motor control unit (MUC)) according to an exemplary embodiment of the present disclosure may be a hardware device implemented by various electronic circuits (e.g., computer, microprocessor, CPU, ASIC, circuitry, logic circuits, etc.). The first controller 20 and the second controller 30 may be implemented by a non-transitory memory storing, e.g., a program(s), software instructions reproducing algorithms, etc., which, when executed, performs various functions of sub units (the basic torque command generation unit 21, the virtual effect creation unit 22, and the final torque command generation unit 23, etc.). The processor configured to execute the program(s), software instructions reproducing algorithms, etc. Herein, the memory and the processor may be implemented as separate semiconductor circuits.

Alternatively, the memory and the processor may be implemented as a single integrated semiconductor circuit. The processor may embody one or more processor(s).

In the present disclosure, the virtual effect creation control unit 22 is a novel component that determines, generates, and outputs a virtual effect signal (command) for generating and implementing virtual vibration and virtual sound, separately from the basic torque command generation unit 21 and the basic torque command generated by the basic torque command generation unit 21, and may be added as part of the vehicle control unit (VCU) or provided as a control element separate from the vehicle controller.

Here, the virtual effect signal may be a signal of a waveform having the magnitude (amplitude and volume) of the virtual effect corresponding to the tooth surface pressure of the powertrain gear, like the virtual effect signal for the operation of a vibration device 51 or a sound device 54, as will be described later.

In the final torque command generation unit 23, the basic torque command input from the basic torque command generation unit 21 is corrected by the virtual effect command input from the virtual effect creation control unit 22, and at this time, a correction may be made by adding the virtual effect command to the basic torque command transmitted from the basic torque command generation unit 21, and the corrected torque command becomes the final torque command for motor control.

In the present disclosure, the virtual effect command may be regarded as a virtual effect signal for generating a virtual effect emulating the powertrain characteristics of an internal combustion engine vehicle. The virtual effect command, which is the virtual effect signal, is reflected in the final torque command, and the operation of the motor is controlled according to the final torque command to which the virtual effect command is reflected, and thus the virtual effect emulating the powertrain characteristics of an internal combustion engine vehicle, that is, virtual vibration, may be generated by the motor.

Accordingly, in the present disclosure, virtual vibration linked to the tooth surface pressure of the powertrain gear may be generated by the motor driving the vehicle, and the virtual vibration is vibration that mimic the vibration that may occur in existing internal combustion engine vehicles. In this case, the motor is a driving device for driving the vehicle, but also functions as a virtual effect generation device capable of generating a virtual effect.

The apparatus for virtualizing characteristics of an internal combustion engine vehicle according to the present disclosure may further include: an interface unit 11 used by a driver to select and input one of ON and OFF of the virtual effect implementation function.

In the present disclosure, a means for a driver to selectively operate ON and OFF in the vehicle and output an electrical signal according to ON and OFF may be used as an interface unit 11. For example, it may be a manipulation device such as a button or a switch provided in a vehicle, or an input device or a touch screen of an AVN (audio, video and navigation) system.

The interface unit 11 may be connected to the first controller 20, and more specifically, the first controller 20 may also be connected to the virtual effect creation control unit 22, which will be described later. Accordingly, when there is an ON or OFF manipulation of the driver through the interface unit 11, the ON or OFF signal from the interface unit 11 may be input to the virtual effect creation control unit 22 of the first controller 20. Eventually, the virtual effect creation control unit 22 of the first controller 20 may recognize the ON or OFF manipulation state of the virtual effect implementation function by the driver.

In the present disclosure, the virtual effect implementation function is executed only when the driver inputs ON of the virtual effect implementation function through the interface unit 11. In addition, when the interface unit 11 is an input device installed in a vehicle, a mobile device (not shown) may be used as the interface unit 11, although not shown in FIG. 3 , instead of the input device of the vehicle, and the ON and OFF manipulation of the virtual effect implementation function may also be performed by the driver using the mobile device.

The mobile device needs to be capable of being communicatively connected to an in-vehicle device, for example, the first controller 20, and to this end, an input/output communication interface (not shown) for communication connection between the mobile device and the first controller 20 is used.

In addition, the driver may set virtual effect application conditions such as set values using the interface unit 11, and when the virtual effect application condition is satisfied, the virtual effect implementation function according to the present disclosure may be performed (see step S1 in FIG. 4 ).

The apparatus for virtualizing characteristics of an internal combustion engine vehicle according to the present disclosure may further include: at least one of the vibration device 51 for generating virtual vibrations and the sound device 54 for generating and outputting virtual sounds.

The vibration device 51 and the sound device 54 are also virtual effect generating devices for generating virtual effects. In the present disclosure, one of a motor that is the driving device 41 and the vibration device 51 among the virtual effect generating devices may be used to generate virtual vibrations.

As described above, in the present disclosure, although virtual vibrations may be generated using a motor for moving a vehicle, a virtual vibration may be generated using a separate vibration device 51 installed in the vehicle instead of the motor.

The vibration device 51 is provided to generate vibrations according to an electrical signal output from the virtual effect creation control unit 22 of the first controller 20, that is, a virtual effect signal for generating and implementing virtual effects.

The vibration device 51 may include: a vibration amplifier 52 that receives a virtual effect signal and outputs an amplified vibration signal; and a vibration actuator 53 for generating vibrations by the amplified vibration signal output from the vibration amplifier 52.

As the vibration amplifier 52 and the vibration actuator 53, a well-known vibration amplifier and vibration actuator may be used. Additionally, the vibration actuator 53 of the vibration device 51 may be installed at a predetermined position in the vehicle where the driver may sense the vibration generated therefrom.

For example, the vibration actuator 53 of the vibration device 51 may be installed on the vehicle body or the seat, and may be installed at a position where vibration generated during driving may be transmitted to the driver through the vehicle body or the seat.

The sound device 54 is provided to generate a sound according to an electric signal output from the virtual effect creation control unit 22 of the first controller 20, that is, a virtual effect signal for generating and implementing a virtual effect.

The sound device 54 may include: a sound amplifier 55 that receives a virtual effect signal and outputs an amplified sound signal; and a speaker 56 for generating and outputting sound by the amplified sound signal output from the sound amplifier 55.

As the sound amplifier 55 and the speaker 56, well-known sound amplifiers and speakers may be used, and those already installed in the vehicle may be used. The speaker 56 may be a speaker mounted to output sound to the inside or outside of the vehicle.

Hereinafter, a method of generating virtual vibration and sound according to the present disclosure will be described in detail.

First, the virtual effect creation control unit 22 of the first controller 20 acquires information on tooth surface pressure of the powertrain gear (hereinafter abbreviated as “gear tooth surface pressure”), and the magnitude of the virtual effect, that is, the amplitude of the virtual vibration and the volume of the virtual sound (which is the amplitude in the waveform of the virtual sound signal) may be determined to be proportional to the size of the acquired gear tooth surface pressure (step S2 in FIG. 4 ).

When the magnitude of the virtual effect, that is, the amplitude of the virtual vibration and the volume of the virtual sound, is obtained as described above, the waveform of the virtual effect signal may be determined in real time (step S3 in FIG. 4 ). In addition, the determined virtual effect signal (or virtual effect command) may be transmitted to generate a virtual effect in the vibration device 51 (or motor) and the sound device 54 (see steps S4 and S5 of FIG. 4 ).

FIG. 5 is a diagram schematically showing waveforms and sizes of a virtual vibration signal and a virtual sound signal according to a gear tooth surface pressure in the present disclosure. The magnitude of the illustrated waveform is the amplitude of the virtual vibration and the volume of the virtual sound (which is the amplitude of the waveform).

In general, it is natural that the transmission of actual vibration becomes easier when the size of the gear tooth surface pressure increases. In order to emulate this, as the absolute value of the tooth surface pressure of the gear in the powertrain, that is, as the gear tooth surface pressure increases, it is possible to increase the amplitude of the vibration or the volume of the sound (the amplitude of the waveform) in proportion to the absolute value of the gear tooth surface pressure (see FIGS. 9 and 11 to be described later).

In addition to increasing proportionally as described above, it is also effective to make the gear tooth surface pressure and the increase/decrease direction of the virtual effect (virtual vibration and virtual sound) coincide with each other. That is, as the gear tooth surface pressure increases, the size of the virtual effect also increases, or as the gear tooth surface pressure decreases, the size of the virtual effect also decreases.

In other words, the amplitude of the virtual effect may have a function of monotonically increasing or monotonically decreasing with respect to the gear tooth surface pressure.

Moreover, when the gear tooth surface pressure is the pressure set as belonging to the backlash region, the amplitude of the virtual vibration and the volume of the virtual sound may be set to the minimum. At this time, zero (0) may be set as the pressure in the backlash region. That is, the area where the gear tooth surface pressure is zero (0) may be referred to as the backlash region.

FIG. 6 is a diagram showing waveforms and sizes of virtual vibration signals and virtual sound signals when the gear tooth surface pressure is zero (0) in the present disclosure. The magnitude of the illustrated waveform is the amplitude of the virtual vibration and the volume of the virtual sound (which is the amplitude of the waveform).

When gear backlash actually occurs in the powertrain, it can be considered that the physical coupling between the gears is stopped. In this case, the actual vibration will not be transmitted to the powertrain, but will be transmitted to the surrounding lubricant, machine parts shaft, housing, etc., and will have damping characteristics. Thus, as a strategy for generating a virtual effect that realistically emulates such an effect, it is preferable to set the size of the virtual effect (virtual vibration and virtual sound) to be the set minimum value.

Accordingly, in the present disclosure, the virtual effect creation control unit 22 of the first controller 20 may determine the size of the virtual effect (the amplitude of the virtual effect signal) as a preset minimum value when the gear tooth surface pressure corresponds to the pressure in the preset backlash region.

Hereinafter, a method of obtaining tooth surface pressure information will be described in detail.

In the present disclosure, the gear tooth surface pressure is estimated using the input torque, and at this time, the gear tooth surface pressure may be directly estimated from the input torque. That is, after the gear tooth surface pressure is estimated in real time using the current input torque to express the typical powertrain characteristics with backlash characteristics, it is possible to determine the magnitude (amplitude and volume) of the virtual effect from the obtained gear tooth surface pressure.

The input torque is a torque applied to the powertrain from the motor, and the values below may be used to estimate the gear tooth surface pressure as the input torque.

1. Motor torque command as input torque command (basic torque command)

2. Estimate of input torque (motor torque)

3. Input torque detection value detected by sensor

4. Filter applied value to input torque

The input torque means a torque of a main torque source that generates a torque for driving the vehicle and applies it to the powertrain, and in this case, a command value may be used as the input torque. Since the main torque source is the driving device 41 for driving the vehicle, and the driving device, which is the main torque source in the electric vehicle, is a motor, the command may be a motor torque command (final torque command) as an input torque command.

On the other hand, the input torque may be an input torque (motor torque) estimate obtained from a motor control unit (MCU), or may be a motor torque detection value detected by a torque sensor. Here, the motor torque detection value is the detection value of the torque sensor installed on the input side of the powertrain gear, such as a reducer, or on the motor output side. The input torque may also be a value to which a filter is additionally applied.

When the gear tooth surface pressure corresponding to the input torque is calculated and estimated after the input torque is determined as such, the magnitude of the virtual effect corresponding to the gear tooth surface pressure, that is, the amplitude of the virtual vibration and the volume of the virtual sound may be set using the calculated gear tooth surface pressure.

In other words, the gear tooth surface pressure may be determined using one of motor torque command for controlling the operation of the motor, an estimate of the motor torque output by the motor, motor torque detection value detected by the sensor, the value applied with a filter to the motor torque command, a value obtained by applying a filter to the motor torque estimate value, and a value obtained by applying a filter to the motor torque detection value.

The above method allows the powertrain characteristics to pass through the backlash section to be expressed when the direction of the input torque is changed, and the gear tooth surface pressure may be calculated in real time according to the profile of the input torque.

The present disclosure has the following characteristics in calculating the gear tooth surface pressure in real time according to the profile of the input torque.

FIGS. 7 and 8 are views showing an example in which the gear tooth surface pressure is calculated in the present disclosure. In the FIGS. 7 and 8 , the “backlash region” is a torque region corresponding to a preset backlash torque range.

Referring to this, first, in the present disclosure, the current state may be divided into a backlash state and a normal state according to the value of the input torque. When the magnitude of the input torque is zero (0) or within a preset backlash torque range, the controller may determine that the backlash state has entered, and that other states as a normal state.

In the embodiment of the present disclosure, the backlash torque range may be a torque range having a lower limit threshold that is a negative (−) value and an upper limit threshold that is a positive (+) value as a boundary. That is, the backlash torque range may be set to a torque range including zero (0). The backlash state may be said to start when the input torque enters the set backlash torque range.

At this time, in the controller, as the magnitude of the input torque increases, the magnitude of the gear tooth surface pressure may be determined as a larger value when the gear tooth surface pressure corresponding to the input torque is normal according to the set data. That is, the gear tooth surface pressure may have a function of monotonically increasing in which the pressure is proportionally increased or monotonically decreasing in which the pressure is proportionally decreased, with respect to the input torque.

The set data may be a map, and the controller may determine the gear tooth surface pressure from the input torque by the map. In the embodiment of the present disclosure, the map is used only in the normal state and is not used in the backlash state.

That is, when the input torque enters within the set backlash torque range and becomes a backlash state, the tooth surface pressure value output from the map is ignored. Instead, in the backlash state, the gear tooth surface pressure may converge from the value calculated by the map to the preset minimum tooth surface pressure value according to a preset slope or pattern. The minimum tooth surface pressure value may be preset to zero.

At this time, when the input torque enters the backlash state, the size of the virtual effect (amplitude and volume) together with the size of the gear tooth surface pressure may be made to converge to the preset minimum value in the same way.

In addition, even if the input torque is out of the set backlash torque range, it may be prevented from immediately leaving the backlash state. As an embodiment of the present disclosure, when the delay time elapses after the input torque deviates from the backlash torque range, the magnitude of the gear tooth pressure and the magnitude of the virtual effect may not converge to the minimum value but to the value in a normal state, that is, the value determined by map from input torque.

The delay time serves as a delay for returning from the backlash state to the normal state, which may be determined as a value corresponding to the difference between the input torque and the threshold value of the backlash torque range.

As a method of determining the delay time, a method of subtracting the amount of difference between the input torque determined in real time and the threshold value of the backlash torque range from the preset initial value of the delay time, etc. may be used.

As such, in the embodiment of the present disclosure, the time required for the input torque to return to the normal state after deviating from the backlash torque range is linked to the difference between the current input torque and the threshold value of the backlash torque range. A time corresponding to the difference between the threshold value, which is the boundary of the backlash torque range, and the current input torque may be determined as the return time to the normal state.

Through this, when the input torque barely deviates from the backlash torque range by a small difference, it may take a relatively long time to return to the normal state (see FIG. 7 ), whereas when the input torque deviates from the backlash torque range by a large difference, it may take a relatively short time to return to the normal state (see FIG. 8 ).

Even when returning to the normal state, as when entering the backlash state, the gear tooth surface pressure may converge from the minimum tooth surface pressure value to the gear tooth surface pressure value determined by the map according to a preset slope or pattern.

The magnitude of the virtual effect, that is, the amplitude of the virtual vibration and the volume of the virtual sound, may be obtained from a map with the gear tooth surface pressure as input. Alternatively, after obtaining a value proportional to the absolute value of the gear tooth surface pressure by scaling the size (absolute value) of the information on the gear tooth surface pressure, set minimum value, that is, minimum amplitude or minimum volume value may be added to the obtained value.

FIG. 9 shows that the virtual effect, that is, virtual vibration and virtual sound, changes in real time in the same way as described above. As shown in FIG. 9 , the virtual effect creation control unit 22 of the first controller 20 may determine the size of the virtual effect as a value proportional to the absolute value of the gear tooth surface pressure.

In the present disclosure, the input torque may be a motor torque, and the motor torque may be a motor torque command. In the case of generating virtual vibration and virtual sound as a virtual effect using the vibration device 51 and the sound device 54 as a virtual effect generating device, the motor torque command is a basic torque command determined by the basic torque command generation unit 21 of the first controller 20.

In addition, the amplitude of the virtual vibration and the volume (amplitude of the waveform) of the virtual sound may be determined from the calculated gear tooth surface pressure by a map or the like, and then a virtual effect signal may be generated with the waveform of the determined amplitude.

After all, the vibration of the virtual effect may be generated in the vibration device 51 by the virtual effect signal, and similarly, the sound of the virtual effect may be generated and output in the sound device 54 by the virtual effect signal.

In the present disclosure, instead of using the vibration device 51 to generate virtual vibration, a motor that is a driving device 41 for driving a vehicle may be used as a virtual effect generating device to generate virtual vibration.

To this end, even when the virtual effect creation control unit 22 of the first controller 20 generates a virtual effect command (virtual effect signal) indicating the waveform of the determined amplitude, and the motor is used as a virtual effect generating device, the motor torque command among input torques to determine gear tooth surface pressure is a basic torque command determined by the basic torque command generation unit 21 of the first controller 20.

The final torque command generation unit 23 of the first controller 20 uses the virtual effect command to correct the basic torque command generated by the basic torque command generation unit 21 of the first controller 20.

For example, when the basic torque command generation unit 21 of the first controller 20 generates a basic torque command based on real-time vehicle driving information and the virtual effect creation control unit 22 generates a virtual effect command, the final torque command generation unit 23 may generate the final torque command by adding the basic torque command input from the basic torque command generation unit 21 and the virtual effect command input from the virtual effect creation control unit 22.

When the second controller 30 controls the operation of the motor, which is the driving device 41 of the vehicle, according to the final torque command generated in this way, vibration emulating vibration of an internal combustion engine vehicle (virtual vibration) may be generated and provided by the motor.

Meanwhile, in an embodiment of the present disclosure, it is possible to binarize the waveform of the virtual effect. That is, the shape and position of the tooth surfaces may vary depending on the shape profile design of the actual gear, and the vibration profile may change depending on the shape and position of these tooth surfaces or the magnitude and direction of the transmitted torque. Thus, in order to emulate this effect, the change in the vibration profile may also be reflected in the virtual vibration and virtual sound profiles.

First, the type of profile in the virtual vibration signal and virtual sound signal waveform may be changed depending on the amount of torque transmitted by the powertrain gear. For example, it may be made to gradually change from profile 1 to profile 2 as the magnitude of the torque increases.

Alternatively, the type and amplitude of the profile of the virtual vibration signal and the virtual sound signal waveform may be binarized depending on the direction of the torque. For example, profile 1 may be used when a forward torque is applied, and profile 2 may be used when a reverse torque is applied.

At this time, if profile 1 is defined as a vibration profile when a forward torque is applied and profile 2 is defined as a vibration profile when a reverse torque is applied, the frequency component of profile 1 may be said to be more heterogeneous than the frequency component of profile 2. That is, the frequency component of profile 2 is more homogeneous than the frequency component of profile 1.

In the waveforms of the virtual vibration signal and the virtual sound signal, the reason for setting the different profiles of the waveforms when the forward torque is applied and when the reverse torque is applied as described above is because, when analyzing the vibration characteristics of the powertrain to which the internal combustion engine, which is the actual emulation target, is applied, there is an explosion stroke of the engine while generating forward torque, and in the case of forward torque generation (fired) that goes through the process of suction-compression-explosion-exhaust compared to the case of reverse torque generation (motored) that simply goes through the process of suction-compression-expansion-exhaust, the vibration component due to the explosion is added, and the frequency component is eventually mixed.

Moreover, a peak shape among the waveforms of the profile 1 may be a sharper shape than a peak shape among the waveforms of the profile 2. That is, the heterogeneous frequency component of profile 1 is higher than the primary frequency band of profile 2.

The reason for differentiating in the peak shape of the waveform when applying the forward torque and when applying the reverse torque as described above is to emulate the effect of the explosion. Referring to FIG. 10 , it can be seen that a high-frequency component is added in the “fired trace” (forward torque generation) compared to the “motored trace” (reverse torque generation) in the cylinder pressure state of a typical gasoline engine.

FIG. 11 is a view showing an example of changing the size and shape in real time in the waveform of virtual effects after the gear tooth surface pressure is calculated in the present disclosure. In the present disclosure, the virtual effect includes virtual vibration and virtual volume as described above.

Additionally, the size of the waveform corresponds to the amplitude of the vibration and the volume of the sound.

Referring to FIG. 11 , it can be seen that the vibration profile is set separately when reverse torque is applied and when forward torque is applied. As shown, the profile of the waveform when the reverse torque is applied and the profile of the waveform when the forward torque is applied may be preset with different peak shapes.

In the example of FIG. 11 , the input torque is converted from the reverse torque, which is a negative (−) torque, to the forward torque, which is a positive (+) torque, and at this time, the gear tooth surface pressure also converts from negative torque and pressure to positive torque and pressure. The negative (−) torque is a torque that decelerates the vehicle, and the positive (+) torque is a torque that accelerates the vehicle.

As shown in FIG. 11 , after the gear tooth surface pressure is calculated, the magnitude of the virtual effect, that is, the amplitude of the virtual vibration and the volume of the virtual sound, may be obtained based on the calculated gear tooth surface pressure. At this time, the amplitude of the virtual vibration and the volume of the virtual sound that change in real time in association with the gear tooth surface pressure may be obtained.

When the amplitude of the virtual vibration and the volume of the virtual sound linked to the real-time gear tooth surface pressure are obtained as described above, the set profile of the waveform when the forward torque is applied and the set profile of the waveform when the reverse torque is applied are applied, and yet, a virtual vibration signal of a waveform whose amplitude changes in real time and a virtual sound signal of a waveform whose volume changes in real time may be determined.

To sum up, when the virtual effect creation control unit 22 of the first controller 20 generates and outputs a virtual vibration signal and a virtual sound signal according to the above method, the vibration device 51 and the sound device 54 may generate and output the vibration and sound according to the virtual vibration signal and the virtual sound signal as described above.

In the example of FIG. 11 , in the backlash section in which the gear tooth surface pressure becomes zero (0), a profile obtained by combining the profile at the time of applying the forward torque and the profile at the time of applying the reverse torque may be used. At this time, the two profiles may be synthesized using a method of multiplying the waveform values of the two profiles by weights (α, 1-α) and then summing the two values each multiplied by weights.

The weight α may be determined by a map using the input torque as an input. That is, from the input torque or the output torque, the corresponding weight α may be determined by the map, and when the weight α is determined, one profile may be obtained by applying and synthesizing α and 1-α to two types of profiles.

Referring to FIG. 11 , one profile synthesized (synthesized in a ratio of 5:5) by applying a weight α=0.5 to each of the profile of the waveform when the reverse torque is applied and the profile of the waveform when the forward torque is applied is exemplified.

Thus far, a method of virtualizing characteristics of an internal combustion engine vehicle in an electric vehicle according to an embodiment of the present disclosure has been described in detail.

According to the method of virtualizing characteristics of an internal combustion engine vehicle of the present disclosure, it is possible to generate and provide virtual vibrations and virtual sounds that are linked to the tooth surface pressure of the powertrain gear. Accordingly, the characteristics of the virtual internal combustion engine powertrain may be created and realized in an electric vehicle with vibration and sound, and the realism of the virtual effect may be maximized.

Furthermore, it is possible to provide a driver with a more realistic feeling of operation and driving similar to that of the internal combustion engine powertrain, and to greatly improve the vehicle's marketability by providing highly realistic virtual effects. In addition, the driver can experience the driving sensibility, fun, excitement, and direct shift feeling provided by the internal combustion engine powertrain in his or her vehicle without having to switch to an internal combustion engine vehicle.

Although the embodiments of the present disclosure have been described in detail above, the scope of the present disclosure is not limited thereto, and various modifications and improvements by those skilled in the art using the basic concept of the present disclosure as defined in the following claims are also included in the scope of the present disclosure. 

What is claimed is:
 1. A method of virtualizing characteristics of an internal combustion engine vehicle in an electric vehicle, the method comprising: determining, by a controller, a current input torque applied to a powertrain from a motor that makes a vehicle move; determining, by the controller, tooth surface pressures of gears in the powertrain between the motor and driving wheels from the determined current input torque; generating, by the controller, a virtual effect signal for generating a virtual effect that simulates powertrain characteristics of the internal combustion engine vehicle based on the determined tooth surface pressures of the gears in the powertrain; and generating, by the controller, the virtual effect that simulates the powertrain characteristics of the internal combustion engine vehicle by controlling operation of a virtual effect generation device that generates the virtual effect according to the generated virtual effect signal.
 2. The method according to claim 1, wherein the input torque is one of a motor torque command for controlling an operation of the motor, a motor torque estimate estimated by the controller, a motor torque detection value detected by a sensor, a filter applied value to the motor torque command, a filter applied value to the motor torque estimate, and a value obtained by applying a filter to the motor torque detection value.
 3. The method according to claim 1, wherein in the determining tooth surface pressures of the gears in the powertrain, the tooth surface pressures of the gears in the powertrain are determined as a value proportional to the input torque.
 4. The method according to claim 1, wherein in the generating a virtual effect signal, the controller determines a magnitude of the virtual effect linked to the tooth surface pressures of the gears in the powertrain, and generates a virtual effect signal of a waveform having the magnitude of the virtual effect as an amplitude.
 5. The method according to claim 4, wherein the controller is set to determine the magnitude of the virtual effect as a larger value as the sizes of the tooth surface pressures of the gears in the powertrain increase.
 6. The method according to claim 4, wherein the controller determines the magnitude of the virtual effect as a preset minimum value when the tooth surface pressures of the gears in the powertrain correspond to pressures of a preset backlash section.
 7. The method according to claim 1, wherein the virtual effect generation device is a vibration device that generates vibration of an amplitude according to a waveform of the virtual effect signal in a vehicle.
 8. The method according to claim 1, wherein the virtual effect generation device is a sound device that generates and outputs sound of volume according to a waveform of the virtual effect signal in a vehicle.
 9. The method according to claim 1, wherein the determining tooth surface pressures of gears in the powertrain comprises: determining that the current state of the gears in the powertrain is one of a backlash state and a normal state according to the determined current input torque; and in response to determination that the current state is the backlash state, determining the tooth surface pressures of the gears in the powertrain as a preset minimum tooth surface pressure value.
 10. The method according to claim 9, wherein a backlash torque range is preset in the controller, and the controller determines that the current state is the backlash state when the current input torque is a value within the set backlash torque range, and the controller determines that the current state is a normal state when the current input torque is not within the set backlash torque range.
 11. The method according to claim 10, wherein in response to determination that the current state is the normal state, the tooth surface pressures of the gears in the powertrain are determined as a value corresponding to the current input torque, and in response to a delay time that elapses after the tooth surface pressures of the gears in the powertrain are out of the backlash torque range, the tooth surface pressures of the gears in the powertrain are determined as a value corresponding to the current input torque.
 12. The method according to claim 11, wherein the delay time is determined as a value corresponding to a difference between the current input torque and a threshold value of the backlash torque range.
 13. The method according to claim 12, wherein the delay time is determined as a longer time as the difference between the current input torque and the threshold value of the backlash torque range is smaller.
 14. The method according to claim 9, wherein in the generating a virtual effect signal, the controller determines a magnitude of the virtual effect linked to the tooth surface pressures of the gears in the powertrain, and generates a virtual effect signal of a waveform having the magnitude of the virtual effect as an amplitude, and in response to determination that the current state is the backlash state, the magnitude of the virtual effect is determined as a preset minimum value.
 15. The method according to claim 14, wherein the preset minimum tooth surface pressure value is set to zero (0).
 16. The method according to claim 9, wherein in response to determination that the current state is the normal state, the tooth surface pressures of the gears in the powertrain are determined as a value corresponding to the current input torque.
 17. The method according to claim 9, wherein in response to determination that the current state is the normal state, the tooth surface pressures of the gears in the powertrain are determined as a value that increases or decreases in proportion to the current input torque.
 18. The method according to claim 9, wherein in the generating a virtual effect signal, the controller determines a magnitude of the virtual effect linked to the tooth surface pressures of the gears in the powertrain, and generates a virtual effect signal of a waveform having the magnitude of the virtual effect as an amplitude, and in response to determination that the current state is the normal state, the magnitude of the virtual effect is determined as a value corresponding to the tooth surface pressures of the gears in the powertrain.
 19. The method according to claim 9, wherein in response to determination that the current state is the normal state, the magnitude of the virtual effect is determined as a value that increases or decreases in proportion to the tooth surface pressures of the gears in the powertrain.
 20. The method according to claim 10, wherein the backlash torque range is set as a torque range including zero (0) while bordering on a lower limit threshold that is a negative (−) value and an upper limit threshold that is a positive (+) value. 